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Title: A Hölder-continuous Extended State Observer for Model-free Position Tracking Control
Position tracking control in three spatial dimensions in the presence of unknown or uncertain dynamics, is applicable to unmanned aerial, ground, (under)water and space vehicles. This work gives a new approach to model-free position tracking control by designing an extended state observer to estimate the states and the uncertain dynamics, with guaranteed accuracy of estimates. The estimated states and uncertainties can be used in a control scheme in real-time for position tracking control. The uncertainty (disturbance input) estimate is provided by an extended state observer (ESO) that is finite-time stable (FTS), to provide accuracy and robustness. The ideas of homogeneous vector fields and real-valued functions are utilized for the ESO design and to prove FTS. The estimated disturbance is then utilized for compensation of this uncertainty in real-time, and to enhance the stability and robustness of the feedback tracking control scheme.  more » « less
Award ID(s):
1938518
PAR ID:
10287225
Author(s) / Creator(s):
;
Date Published:
Journal Name:
2021 American Control Conference (ACC)
Page Range / eLocation ID:
2133 to 2138
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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